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<div class="title">Skeletons.java</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * To change this template, choose Tools | Templates</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * and open the template in the editor.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="keyword">package </span>shahqaan.kinect;</div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">/**</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * @author Shahqaan Qasim</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">/* Skeletons sets up four &#39;observers&#39; (listeners) so that </span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> when a new user is detected in the scene, a standard pose for that </span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> user is detected, the user skeleton is calibrated in the pose, and then the</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> skeleton is tracked. The start of tracking adds a skeleton entry to userSkels.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> Each call to update() updates the joint positions for each user&#39;s</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> skeleton.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">  </span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> Each call to draw() draws each user&#39;s skeleton, with a rotated HEAD_FNM</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> image for their head, and status text at the body&#39;s center-of-mass.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">import</span> java.util.*;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">import</span> org.OpenNI.*;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">   26</a></span>&#160;<span class="keyword">public</span> <span class="keyword">class </span><a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a> {</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="comment">// OpenNI</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">protected</span> UserGenerator userGen;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keyword">protected</span> DepthGenerator depthGen;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="comment">// OpenNI capabilities used by UserGenerator</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keyword">protected</span> SkeletonCapability skelCap;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="comment">// to output skeletal data, including the location of the joints</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keyword">protected</span> PoseDetectionCapability poseDetectionCap;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="comment">// to recognize when the user is in a specific position</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">protected</span> String calibPoseName = null;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keyword">protected</span> HashMap&lt;Integer, HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt;&gt; userSkels;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keyword">protected</span> Context context;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keyword">protected</span> DepthMetaData depthMD;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keyword">protected</span> <span class="keywordtype">boolean</span> isRunning;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">public</span> <a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a>() {</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        configOpenNI();</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        configure();</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        userSkels = <span class="keyword">new</span> HashMap&lt;&gt;();</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    }</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">public</span> <span class="keywordtype">int</span> getXRes() {</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keywordflow">return</span> depthMD.getFullXRes();</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    }</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">public</span> <span class="keywordtype">int</span> getYRes() {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordflow">return</span> depthMD.getFullYRes();</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    }</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> configOpenNI() {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;            context = <span class="keyword">new</span> Context();</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;            License license = <span class="keyword">new</span> License(<span class="stringliteral">&quot;PrimeSense&quot;</span>, <span class="stringliteral">&quot;0KOIk2JeIBYClPWVnMoRKn5cdY4=&quot;</span>);   <span class="comment">// vendor, key</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;            context.addLicense(license);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;            depthGen = DepthGenerator.create(context);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;            MapOutputMode mapMode = <span class="keyword">new</span> MapOutputMode(640, 480, 30);   <span class="comment">// xRes, yRes, FPS</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;            depthGen.setMapOutputMode(mapMode);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;            context.setGlobalMirror(<span class="keyword">true</span>); <span class="comment">// set mirror mode </span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            <span class="comment">// use depth metadata to access depth info (avoids bug with DepthGenerator)</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;            depthMD = depthGen.getMetaData();</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            userGen = UserGenerator.create(context);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            context.startGeneratingAll();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            System.out.println(<span class="stringliteral">&quot;Started context generating...&quot;</span>);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        } <span class="keywordflow">catch</span> (Exception e) {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;            e.printStackTrace();</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;            System.out.println(e);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            System.exit(1);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    } <span class="comment"></span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">    /** </span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="comment">     * Create pose and skeleton detection capabilities for the user generator, </span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment">     * Set up observers (listeners)   </span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> configure() {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            <span class="comment">/*</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="comment">             * Setup UserGenerator pose and skeleton detection capabilities</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="comment">             * Should really check these using ProductionNode.isCapabilitySupported()</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">             * But since we are sure we are using Kinect, we know that these capabilities </span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment">             * will be supported</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment">             */</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            poseDetectionCap = userGen.getPoseDetectionCapability();</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            skelCap = userGen.getSkeletonCapability();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            <span class="comment">/*</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="comment">             * Why am I doing this?</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="comment">             */</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;            calibPoseName = skelCap.getSkeletonCalibrationPose();  <span class="comment">// the &#39;psi&#39; pose</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            skelCap.setSkeletonProfile(SkeletonProfile.ALL); <span class="comment">// other possible values: UPPER_BODY, LOWER_BODY, HEAD_HANDS</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            <span class="comment">// set up four observers</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            userGen.getNewUserEvent().addObserver(<span class="keyword">new</span> <a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a>.NewUserObserver());   <span class="comment">// new user found</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            userGen.getLostUserEvent().addObserver(<span class="keyword">new</span> <a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a>.LostUserObserver()); <span class="comment">// lost a user</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            poseDetectionCap.getPoseDetectedEvent().addObserver(</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                    <span class="keyword">new</span> <a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a>.PoseDetectedObserver());            <span class="comment">// for when a pose is detected</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;            skelCap.getCalibrationCompleteEvent().addObserver(</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                    <span class="keyword">new</span> <a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html">Skeletons</a>.CalibrationCompleteObserver()); <span class="comment">// for when skeleton calibration is completed, and tracking starts</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        } <span class="keywordflow">catch</span> (Exception e) {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            System.out.println(e);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;            System.exit(1);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    } </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">    /**</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">     * Update the skeleton of each user</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">     * Called from run() in TrackerPanel </span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html#ad92c8f39a7d775859eb3dab7478961cb">  117</a></span>&#160;    <span class="keyword">public</span> <span class="keywordtype">void</span> <a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html#ad92c8f39a7d775859eb3dab7478961cb">update</a>() {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            context.waitAnyUpdateAll();</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        } <span class="keywordflow">catch</span> (StatusException e) {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            System.out.println(e);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            System.exit(1);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            <span class="keywordtype">int</span>[] userIDs = userGen.getUsers();   <span class="comment">// there may be many users in the scene</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; userIDs.length; ++i) {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                <span class="keywordtype">int</span> userID = userIDs[i];</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                <span class="keywordflow">if</span> (skelCap.isSkeletonCalibrating(userID)) {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                    <span class="keywordflow">continue</span>;    <span class="comment">// test to avoid occassional crashes with isSkeletonTracking()</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                <span class="keywordflow">if</span> (skelCap.isSkeletonTracking(userID)) {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                    updateJoints(userID);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;            }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        } <span class="keywordflow">catch</span> (StatusException e) {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            System.out.println(e);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    }  <span class="comment"></span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">    /**</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">     * </span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">     * @param userID: User whose joints are to be updated</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keyword">private</span> <span class="keywordtype">void</span> updateJoints(<span class="keywordtype">int</span> userID) {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel = userSkels.get(userID);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        updateJoint(skel, userID, SkeletonJoint.HEAD);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        updateJoint(skel, userID, SkeletonJoint.NECK);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        updateJoint(skel, userID, SkeletonJoint.LEFT_SHOULDER);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        updateJoint(skel, userID, SkeletonJoint.LEFT_ELBOW);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        updateJoint(skel, userID, SkeletonJoint.LEFT_HAND);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        updateJoint(skel, userID, SkeletonJoint.RIGHT_SHOULDER);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        updateJoint(skel, userID, SkeletonJoint.RIGHT_ELBOW);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        updateJoint(skel, userID, SkeletonJoint.RIGHT_HAND);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        updateJoint(skel, userID, SkeletonJoint.TORSO);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        updateJoint(skel, userID, SkeletonJoint.LEFT_HIP);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        updateJoint(skel, userID, SkeletonJoint.LEFT_KNEE);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        updateJoint(skel, userID, SkeletonJoint.LEFT_FOOT);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        updateJoint(skel, userID, SkeletonJoint.RIGHT_HIP);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        updateJoint(skel, userID, SkeletonJoint.RIGHT_KNEE);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        updateJoint(skel, userID, SkeletonJoint.RIGHT_FOOT);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }  <span class="comment">// end of updateJoints()</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">     private void updateJoints(int userID)   // alternative version</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">     // update all the joints for this userID in userSkels</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment">     {</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="comment">     HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel = userSkels.get(userID);</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">     for(SkeletonJoint j : SkeletonJoint.values())</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment">     updateJoint(skel, userID, j);</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="comment">     }  </span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keyword">protected</span> <span class="keywordtype">void</span> updateJoint(HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel,</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;            <span class="keywordtype">int</span> userID, SkeletonJoint joint) {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            <span class="comment">// report unavailable joints (should not happen)</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            <span class="keywordflow">if</span> (!skelCap.isJointAvailable(joint) || !skelCap.isJointActive(joint)) {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                System.out.println(joint + <span class="stringliteral">&quot; not available for updates&quot;</span>);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            SkeletonJointPosition pos = skelCap.getSkeletonJointPosition(userID, joint);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            <span class="keywordflow">if</span> (pos == null) {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                System.out.println(<span class="stringliteral">&quot;No update for &quot;</span> + joint);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            <span class="comment">/*</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment">             // the call to getSkeletonJointOrientation() crashes Java!</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="comment">             SkeletonJointOrientation ori = skelCap.getSkeletonJointOrientation(userID, joint);</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="comment">             if (ori == null)</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="comment">             System.out.println(&quot;No orientation for &quot; + joint);</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="comment">             else</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="comment">             System.out.println(&quot;Orientation for &quot; + joint + &quot;: &quot; + ori);</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="comment">             */</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            SkeletonJointPosition jPos = null;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            <span class="keywordflow">if</span> (pos.getPosition().getZ() != 0) <span class="comment">// has a depth position</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                jPos = <span class="keyword">new</span> SkeletonJointPosition(</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                        depthGen.convertRealWorldToProjective(pos.getPosition()),</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                        pos.getConfidence());</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            } <span class="keywordflow">else</span> <span class="comment">// no info found for that user&#39;s joint</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                jPos = <span class="keyword">new</span> SkeletonJointPosition(<span class="keyword">new</span> Point3D(), 0);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            skel.put(joint, jPos);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        } <span class="keywordflow">catch</span> (StatusException e) {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;            System.out.println(e);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    }  </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keyword">protected</span> Point3D getJointPos(HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt; skel,</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;            SkeletonJoint j) <span class="comment">// get the (x, y, z) coordinate for the joint (or return null)</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        SkeletonJointPosition pos = skel.get(j);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordflow">if</span> (pos == null) {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;            <span class="keywordflow">return</span> null;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="keywordflow">if</span> (pos.getConfidence() == 0) {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;            <span class="keywordflow">return</span> null;   <span class="comment">// don&#39;t draw a line to a joint with a zero-confidence pos</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="keywordflow">return</span> pos.getPosition();</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    }  </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="comment">// --------------------- 4 observers -----------------------</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="comment">/*   user detection --&gt; pose detection --&gt; skeleton calibration --&gt;</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="comment">     skeleton tracking (and creation of userSkels entry)</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="comment">     + may also lose a user (and so delete its userSkels entry)</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keyword">class </span>NewUserObserver <span class="keyword">implements</span> IObserver&lt;UserEventArgs&gt; {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keyword">public</span> <span class="keywordtype">void</span> <a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html#ad92c8f39a7d775859eb3dab7478961cb">update</a>(IObservable&lt;UserEventArgs&gt; observable, UserEventArgs args) {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;            System.out.println(<span class="stringliteral">&quot;Detected new user &quot;</span> + args.getId());</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;                <span class="comment">// try to detect a pose for the new user</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;                poseDetectionCap.StartPoseDetection(calibPoseName, args.getId());   <span class="comment">// big-S ?</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;            } <span class="keywordflow">catch</span> (StatusException e) {</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;                e.printStackTrace();</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;            }</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        }</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    }  <span class="comment">// end of NewUserObserver inner class</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keyword">class </span>LostUserObserver <span class="keyword">implements</span> IObserver&lt;UserEventArgs&gt; {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keyword">public</span> <span class="keywordtype">void</span> <a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html#ad92c8f39a7d775859eb3dab7478961cb">update</a>(IObservable&lt;UserEventArgs&gt; observable, UserEventArgs args) {</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            System.out.println(<span class="stringliteral">&quot;Lost track of user &quot;</span> + args.getId());</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            userSkels.remove(args.getId());    <span class="comment">// remove user from userSkels</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        }</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    } <span class="comment">// end of LostUserObserver inner class</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keyword">class </span>PoseDetectedObserver <span class="keyword">implements</span> IObserver&lt;PoseDetectionEventArgs&gt; {</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="keyword">public</span> <span class="keywordtype">void</span> <a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html#ad92c8f39a7d775859eb3dab7478961cb">update</a>(IObservable&lt;PoseDetectionEventArgs&gt; observable,</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                PoseDetectionEventArgs args) {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            <span class="keywordtype">int</span> userID = args.getUser();</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            System.out.println(args.getPose() + <span class="stringliteral">&quot; pose detected for user &quot;</span> + userID);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;            <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                <span class="comment">// finished pose detection; switch to skeleton calibration</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                poseDetectionCap.StopPoseDetection(userID);    <span class="comment">// big-S ?</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                skelCap.requestSkeletonCalibration(userID, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;            } <span class="keywordflow">catch</span> (StatusException e) {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                e.printStackTrace();</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;            }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    }  <span class="comment">// end of PoseDetectedObserver inner class</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keyword">class </span>CalibrationCompleteObserver <span class="keyword">implements</span> IObserver&lt;CalibrationProgressEventArgs&gt; {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        @Override</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        <span class="keyword">public</span> <span class="keywordtype">void</span> <a class="code" href="classshahqaan_1_1kinect_1_1_skeletons.html#ad92c8f39a7d775859eb3dab7478961cb">update</a>(IObservable&lt;CalibrationProgressEventArgs&gt; observable,</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;                CalibrationProgressEventArgs args) {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;            <span class="keywordtype">int</span> userID = args.getUser();</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;            System.out.println(<span class="stringliteral">&quot;Calibration status: &quot;</span> + args.getStatus() + <span class="stringliteral">&quot; for user &quot;</span> + userID);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;            <span class="keywordflow">try</span> {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;                <span class="keywordflow">if</span> (args.getStatus() == CalibrationProgressStatus.OK) {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                    <span class="comment">// calibration succeeeded; move to skeleton tracking</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                    System.out.println(<span class="stringliteral">&quot;Starting tracking user &quot;</span> + userID);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;                    skelCap.startTracking(userID);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;                    userSkels.put(<span class="keyword">new</span> Integer(userID),</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;                            <span class="keyword">new</span> HashMap&lt;SkeletonJoint, SkeletonJointPosition&gt;());</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;                    <span class="comment">// create new skeleton map for the user in userSkels</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                } <span class="keywordflow">else</span> <span class="comment">// calibration failed; return to pose detection</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                {</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                    poseDetectionCap.StartPoseDetection(calibPoseName, userID);    <span class="comment">// big-S ?</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                }</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;            } <span class="keywordflow">catch</span> (StatusException e) {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                e.printStackTrace();</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;            }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        }</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    } </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;} </div>
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